I got my friends and family to switch to iMessage and Signal. The method was simple: I stopped responding on WhatsApp and spun up new threads, when planning something, on those apps. WhatsApp’s stickiness is overrated.
Signal, at least on Android, looks like a stock SMS text app. That turns "normal" people off because it looks and feels different from a "messaging" app like Slack/Messenger/Whatsapp etc where doing stuff like group chats, attaching video/audio/images is easy. When people see a standard SMS text interface, they feel it's for one-to-one communication only with limited multimedia capabilities (remember MMS?).
A free chat app does not have much lock in. Just look at what happened to e.g. MSN.
Signal is a pretty good drop-in replacement for WhatsApp, given that WhatsApp is pretty much a Signal clone (it uses its protocol, etc).
Not FOR WhatsApp it isn't. I don't know of an app that all my family/friends would switch to if WhatsApp decided to put ads on it. Switching chat apps with your entire contacts list is very cumbersome.